Revision history [back]

Interesting issue. Yes, afaik you cannot use two local planners within the move_base node, as David said. So thinking about alternatives, one can be to make your own move_base node and instantiate two different controllers, the classical obstacle avoidance one, and the CollvoidLocalPlanner. The problem is how to decide to which one you give the control... Well, probably you can find solutions, but...

But I think a much better approach would be to reuse part of the code on collovid to populate a costmap layer as implemented on social_navigation_layers. Take a look at this answer for details. And the author is already here in the first answer! ^_^